/*
 * Task.h
 *
 *  Created on: Feb 4, 2017
 *      Author: YzZe
 */

#ifndef TASK_H_
#define TASK_H_

#include "stm32f1xx_hal.h"
#include "include.h"
#include "cmsis_os.h"
#include "DMP.h"

void Read_MPU6050(void);
int16_t Balance_PID_Ctrl(float angle,float gyro);

void Motor_PID_Ctrl(int16_t balance_PID_Val);

void BalanceCar_vTask(void *pvParameters);

void Task(void);

#endif /* TASK_H_ */
